ResearchBenchmarksArticulated 3D Scene Graph Reconstruction on Bedroom simulatedFollow98.2Mesh Recovery PrecisionKhronos89.77691.96394.1596.337Mar 30, 2026Evaluation ResultsMethodMethodLinksMesh Recovery PrecisionMesh Recovery RecallMesh Recovery F1Static Objects PrecisionStatic Objects RecallStatic Objects F1Dynamic Objects PrecisionDynamic Objects RecallDynamic Objects F1Object Relationships PrecisionObject Relationships RecallObject Relationships F1Khronos2026.0398.268.380.642.660.5501.10.70.8———NoArtarticulate part geomet...articulate part geometry=None2026.0398.166.27961.59374.1———416048.7Pandora2026.0398.166.27972.79381.693.584.188.587.593.390.3Hydra2026.0390.168.87886.760.571.2——————